A multiline lidar includes: a laser emitting array (110) configured to emit multi-beam laser; a laser receiving array (120) configured to receive multiplexed laser echoes reflected by a target object; an echo sampling device (130) configured to sample the multiplexed laser echo in a time division multiplexing manner and output a sampling data stream; a control system (140) coupled to the laser emitting array (110), the laser receiving array (120), and the echo sampling device (130), respectively; the control system (140) is configured to control operations of the laser emitting array (110) and the laser receiving array (120), and determine measurement data according to the sampling data stream; and an output device (150) configured to output the measurement data.
|
2. A multiline lidar, comprising:
a laser emitting array configured to emit a multi-beam laser;
a laser receiving array configured to receive multiplexed laser echoes reflected by a target object;
an echo sampling device configured to sample the multiplexed laser echoes in a time division multiplexing manner and output a sampling data stream;
a control system coupled to the laser emitting array, the laser receiving array, and the echo sampling device, respectively, wherein the control system is configured to control operations of the laser emitting array and the laser receiving array, and generate measurement data according to the sampling data stream;
an output device configured to output the measurement data;
an emitting collimation optical system disposed on an outgoing light side of the laser emitting array and configured to collimate the multi-beam laser emitted by the laser emitting array;
a laser receiving focusing system disposed on an incident light side of the laser receiving array and configured to focus the multiplexed laser echoes reflected by the target object;
an emission optical system disposed between the laser emitting array and the emitting collimation optical system, wherein the emission optical system is configured to control the multi-beam laser to emit along a direction parallel to an outgoing light direction of the laser emitting array; and
a receiving optical system disposed between the laser receiving array and the laser receiving focusing system, wherein the receiving optical system is configured to output the multiplexed laser echoes into the laser receiving array along an incident direction of the multiplexed laser echoes.
1. A multiline lidar, comprising:
a laser emitting array configured to emit multi-beam laser;
a laser receiving array configured to receive multiplexed laser echoes reflected by a target object;
an echo sampling device configured to sample the multiplexed laser echoes in a time division multiplexing manner and output a sampling data stream;
a control system coupled to the laser emitting array, the laser receiving array, and the echo sampling device, respectively, wherein the control system is configured to control operations of the laser emitting array and the laser receiving array, and determine measurement data according to the sampling data stream;
an output device configured to output the measurement data;
an emitting collimation optical system disposed on an outgoing light side of the laser emitting array and configured to collimate the multi-beam laser emitted by the laser emitting array; and
a laser receiving focusing system disposed on an incident light side of the laser receiving array and configured to focus the multiplexed laser echoes reflected by the target object,
wherein the emitting collimation optical system comprises a collimation emitting lens, the laser receiving focusing system comprises a focus receiving lens, and both of the collimation emitting lens and the focus receiving lens are fixed to an arcuate surface; and
wherein the laser receiving focusing system further comprises a fourth lens, a fifth lens, and a sixth lens which are successively coaxially arranged along the incident light; the sixth lens is a positive meniscus lens, curved surfaces of the sixth lens are bent toward a position where the laser emitting array is located, the fifth lens is a negative meniscus lens, curved surfaces of the fifth lens are bent toward an emitting direction of the laser emitting array; the fourth lens is a positive meniscus lens, and curved surfaces of the fourth lens are bent toward the emitting direction of the laser emitting array.
3. The multiline lidar according to
4. The multiline lidar according to
5. The multiline lidar according to
6. The multiline lidar according to
7. The multiline lidar according to
8. The multiline lidar according to
9. The multiline lidar according to
|
This application is a continuation application of U.S. application Ser. No. 15/748,320, filed Jan. 29, 2018, which is a national stage application of PCT/CN2016/081479, filed May 10, 2016, the disclosures of which are incorporated herein by reference in their entirety.
The present disclosure relates to the field of laser detection, and more particularly relates to a multiline lidar (light detection and ranging).
“Radar” is an electronic device that uses electromagnetic wave to detect the position of a target. It is mainly used to detect the movement parameters such as distance, velocity, and angular position of the target. The radar includes ultrasonic radar, microwave radar and lidar. The lidar completes the detection task by using the laser. Conventional lidar is used in fixed-point detections, however, when the lidar is used in multiline measurement, the measuring speed cannot meet the requirements, hence it cannot meet the real-time requirements.
Accordingly, it is necessary to provide a multiline lidar with a high real-time ability.
A multiline lidar includes: a laser emitting array configured to emit multi-beam laser; a laser receiving array configured to receive multiplexed laser echoes reflected by a target object; an echo sampling device configured to sample the multiplexed laser echo in a time division multiplexing manner and output a sampling data stream; a control system coupled to the laser emitting array, the laser receiving array, and the echo sampling device, respectively; wherein the control system is configured to control operations of the laser emitting array and the laser receiving array, and determine measurement data according to the sampling data stream; and an output device configured to output the measurement data.
According to the aforementioned multiline lidar, the laser emitting array can emit multi-beam laser, the laser receiving array is configured to receive multiplexed laser echoes reflected by the target object. The echo sampling device is configured to sample the multiplexed laser echo received by the laser receiving array in the time division multiplexing manner and output the sampling data stream to the control system, such that the control system can determine the measurement data and outputs it through the output device. According to the aforementioned multiline lidar, the sampling is performed via the time division multiplexing manner, and a real-time processing is performed by the control system, such that the real-time ability of the measuring process is enhanced.
To illustrate the technical solutions according to the embodiments of the present invention or in the prior art more clearly, the accompanying drawings for describing the embodiments or the prior art are introduced briefly in the following. Apparently, the accompanying drawings in the following description are only some embodiments of the present invention, and persons of ordinary skill in the art can derive other drawings from the accompanying drawings without creative efforts.
Embodiments of the invention are described more fully hereinafter with reference to the accompanying drawings. The various embodiments of the invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The laser emitting array 110 is configured to emit multi-beam laser. The laser emitted by the laser emitting array 110 is pulsed laser. The laser emitting array 110 includes a plurality of laser emitters arranged in an array.
The laser receiving array 120 is configured to receive multi-beam pulsed laser reflected by a target object. The laser receiving array 120 also includes a plurality of laser receivers arranged in an array. The laser receivers have the same number as that of the laser emitters. In alternative embodiments, the arrangement of the laser emitting array 110 and the laser receiving array 120 may be configured according to actual needs.
The echo sampling device 130 is coupled to the laser receiving array 120. The echo sampling device 130 is configured to sample the laser echo received by the laser receiving array 120 in a time division multiplexing manner, and a sampling data stream is generated and output. The sampling of the multiplexed laser echo is performed by the time division multiplexing manner, such that the sampling efficiency is increased, and the real-time ability of the measuring process is enhanced. The echo sampling device 130 has a sampling frequency of an order of the gigabit samples per second (GSPS), such that the obtained sampling data stream is a data stream of an order of GSPS (i.e., high speed sampling data stream). In the illustrated embodiment, the echo sampling device 130 is an analog-to-digital conversion (ADC) sampling device, and an obtained data stream is a high speed data stream of 600000 echo signal per second. The data stream is a data stream quantized by 8 bit ADC.
The control system 140 is coupled to the laser emitting array 110, the laser receiving array 120, and the echo sampling device 130, respectively. The control system 140 is configured to control operations of the laser emitting array 110, the laser receiving array 120, and the echo sampling device 130. In addition, the control system 140 is configured to determine measurement data according to the sampling data stream. Specifically, the control system 140 can be implemented via a field programmable gate array (FPGA). Referring to
D=T*Ca/2
where D represents distance, Ca represents the speed of light in the air, T represents time interval, which is an absolute value of the difference between the echo and the reference signal and the template correlation at which the maximum value is reached. By packing and sending the obtained distance information along with other auxiliary information such as point serial number, channel attenuation value, and test information, it is helpful to improve the stability and security of the data transmission process. In an alternative embodiment, the echo sampling device 130 can be integrated into the control system 140.
The output device 150 is configured to output the measurement data output by the control system 140. In the illustrated embodiment, the output device 150 is an output interface. In alternative embodiments, the output device 150 can be a display device that outputs the measurement data directly.
According to the aforementioned multiline lidar, the laser emitting array 110 can emit multi-beam laser, the laser receiving array 120 is configured to receive multiplexed laser echoes reflected by the target object. The echo sampling device 130 is configured to sample the multiplexed laser echo received by the laser receiving array 120 in the time division multiplexing manner and output the sampling data stream to the control system 140, such that the control system 140 can determine the measurement data and outputs it through the output device 150. According to the aforementioned multiline lidar, the sampling is performed via the time division multiplexing manner, and a real-time processing is performed by the control system 140, such that the real-time ability of the measuring process is enhanced. In the meantime, the control system 140 calculates and processes the data via the time division multiplexing DSP array, thus the real-time ability of the measuring process is further enhanced.
In one embodiment, referring to
In the foregoing multiline lidar, the FPGA master control system 220 is connected to the distance measuring system 210 and is disposed on the rotation portion 200. The FPGA data integration system 320 is connected to the angle measurement system 310 and the output device 330, and is disposed on the fixing portion 300. The FPGA master control system 220 communicates with the FPGA data integration system 320 via the wireless communication system 410, thus forming the control system of the multiline lidar. Since the FPGA master control system 220 and the FPGA data integration system 320 are independently configured on the rotation portion 200 and the fixing portion 300, respectively, the stability of the system is increased.
In the illustrated embodiment, the distance measuring system 210 includes a laser emitting array 212, an emitting collimation optical system 214, a laser receiving focusing system 216, and a laser receiving array 218. The laser emitting array 212 is used to transmit multi-beam (e.g., 4, 8, 16, 32, 64) pulsed lasers. The number of beams of multi-beam lasers can be configured as required, such as an even number. The emitting collimation optical system 214 is arranged on a light outgoing side of the laser emitting array 212. The emitting collimation optical system 214 is configured to collimate the multi-beam laser emitted by the laser emitting array 212. The laser receiving focusing system 216 is arranged on an incident light side of the laser receiving array 218. The laser receiving focusing system 216 is configured to focus each laser echo reflected by the target object and then output it to the laser receiving array 218. The laser receiving array 218 is configured to receive the multiplexed laser echo focused by the laser receiving focusing system 216. By focusing the incident light and collimating the outgoing light, the accuracy of the measurement is advantageously improved. The FPGA master control system 210 is configured to control the laser emitting array 212 and the laser receiving array 218. The FPGA master control system 210 is further configured to determine measuring data (distance information) according to the received multiplexed laser echo. The operation of the FPGA master system 210 has been described in the foregoing embodiments and will not be described here.
The angle measurement system 310 is configured to measure a rotation angle of the rotation portion 200 and output it to the FPGA data integration system 320. The angle measurement system 310 may be implemented using a high precision rotary angle measurement system commonly used in the art. The FPGA data integration system 320 is configured to receive the angle information output from the angle measurement system 310 and a distance information output from the FPGA master control system 220, thus generating a measuring date with angle, which is output via the output device 330. The output device 330 may be a multi-beam laser ranging data output interface or a display device capable of displaying.
In the illustrated embodiment, the emission collimation optical system 214 is a large field collimation system. The emission collimation optical system 214 includes a plurality of collimation emitting lens (not shown). The plurality of collimation emitting lens are disposed on an arcuate surface, which has a radius of 200 mm. The laser receiving focusing system 216 includes a plurality of focus receiving lens (not shown). The plurality of focus receiving lens are disposed on an arcuate surface, which has a radius of 200 mm. In the illustrated embodiment, an arc formed by the collimation emitting lens and an arc formed by the focus receiving lens have the same center, and the collimation emitting lens and the focus receiving lens are within 30° of the center of the circle. Referring to
Referring to
The above-mentioned multiline lidar has a simple structure, good stability, and can meet the real-time requirements.
Although the respective embodiments have been described one by one, it shall be appreciated that the respective embodiments will not be isolated. Those skilled in the art can apparently appreciate upon reading the disclosure of this application that the respective technical features involved in the respective embodiments can be combined arbitrarily between the respective embodiments as long as they have no collision with each other.
Although the description is illustrated and described herein with reference to certain embodiments, the description is not intended to be limited to the details shown. Modifications may be made in the details within the scope and range equivalents of the claims.
Patent | Priority | Assignee | Title |
Patent | Priority | Assignee | Title |
10838046, | May 10 2016 | SUTENG INNOVATION TECHNOLOGY CO , LTD | Multiline lidar |
9377533, | Aug 11 2014 | SMITS, GERARD DIRK | Three-dimensional triangulation and time-of-flight based tracking systems and methods |
20160282468, |
Executed on | Assignor | Assignee | Conveyance | Frame | Reel | Doc |
Jan 12 2018 | QIU, CHUNXIN | SUTENG INNOVATION TECHNOLOGY CO , LTD | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 053916 | /0255 | |
Jan 12 2018 | LIU, LETIAN | SUTENG INNOVATION TECHNOLOGY CO , LTD | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 053916 | /0255 |
Date | Maintenance Fee Events |
Sep 29 2020 | BIG: Entity status set to Undiscounted (note the period is included in the code). |
Oct 19 2020 | SMAL: Entity status set to Small. |
Feb 15 2022 | BIG: Entity status set to Undiscounted (note the period is included in the code). |
Date | Maintenance Schedule |
Jun 27 2026 | 4 years fee payment window open |
Dec 27 2026 | 6 months grace period start (w surcharge) |
Jun 27 2027 | patent expiry (for year 4) |
Jun 27 2029 | 2 years to revive unintentionally abandoned end. (for year 4) |
Jun 27 2030 | 8 years fee payment window open |
Dec 27 2030 | 6 months grace period start (w surcharge) |
Jun 27 2031 | patent expiry (for year 8) |
Jun 27 2033 | 2 years to revive unintentionally abandoned end. (for year 8) |
Jun 27 2034 | 12 years fee payment window open |
Dec 27 2034 | 6 months grace period start (w surcharge) |
Jun 27 2035 | patent expiry (for year 12) |
Jun 27 2037 | 2 years to revive unintentionally abandoned end. (for year 12) |